The Research Of Motion Planning Algorithm For Stablized Platform On Ship

Sailing in the ocean, ships are suffered from the wind, wave, surge and other disturbances, which would affect the gesture stability of the carried instruments. Stabilized platform of ship can Real-time measures the variation of ship gesture, via doing a mirror image motion to segregate the effects of ship's rolling and pitching. In recent years, with the development of defense weaponry equipment and production of goods for civilian use technology, Stabilized platform applications are becoming more and more widely. This paper is under the background of two-axis stabilized platform's servo control unit research, the scheme of servo control is analysed and designed; the position and gesture forecast algorithm and speed planning algorithm of stabilized platform's servo control are discussed. Following are the main works and the result of the thesis:Firstly, the criteria for system design of stabilized platform is introduced, the function and segregating principle of stabilized platform are analysed.And then, the hardware circuit and software module of main servo controller of stabilized platform are designed in detail.Secondly, to reduce the noise effects of GPS data and the time delay influences of closed-loop system, multiple smoothing filtering and gesture forecast algorithms are analyzed. All algorithms are executed on the VC++6.0 software and DSP main servo controller. Under the principle of real time and the accuracy of stabilized platform control, the Moving-average filtering and Kalman filtering methods are selected.Thirdly, to maintain the smooth and steady of platform's running speed, speed planning algorithms are researched in depth. Frequently-used acceleration and deceleration algorithms are discussed, then the based on T type and S type speed planning algorithms are designed. With the result of experiments, the S type speed planning algorithm is the best choice for this paper.Lastly, the parameters of servo closed-loop system of stabilized platform are set, which match with the machinery in optimum behavior. The scheme of motion planning algorithm experiments are drafted, which are carried out with different sea states GPS data and obtained a good result. Finally, all components of stabilized platform are joined together to check the precise of whole control system, the control errors are under the technical data which are satisfied with design requirements.